// handler associated to SW1 (labeled SW2 on board) void SW1_Intr_Handler(void) { static uint32_t c_ifsr; // port c interrupt flag status register uint32_t c_portBaseAddr = g_portBaseAddr[GPIO_EXTRACT_PORT(kGpioSW1)]; uint32_t portPinMask = (1 << GPIO_EXTRACT_PIN(kGpioSW1)); CPU_CRITICAL_ENTER(); // enter critical section (disable interrupts) OSIntEnter(); // notify to scheduler the beginning of an ISR ("This allows ?C/OS-III to keep track of interrupt nesting") c_ifsr = PORT_HAL_GetPortIntFlag(c_portBaseAddr); // get intr flag reg related to port C if( (c_ifsr & portPinMask) ) // check if kGpioSW1 generated the interrupt [pin 6 -> 7th flag (flags start with index 0)] { //sem_sw1_post OSSemPost(&MySem1, OS_OPT_POST_1 + OS_OPT_POST_NO_SCHED, &os_err); } GPIO_DRV_ClearPinIntFlag( kGpioSW1 ); CPU_CRITICAL_EXIT(); // renable interrupts OSIntExit(); /* notify to scheduler the end of an ISR ("determines if a higher priority task is ready-to-run. If so, the interrupt returns to the higher priority task instead of the interrupted task.") */ }
/*! * @brief gpio IRQ handler with the same name in startup code */ void BOARD_SDHC_CD_GPIO_IRQ_HANDLER(void) { PORT_Type * gpioBase = g_portBase[GPIO_EXTRACT_PORT(kGpioSdhc0Cd)]; uint32_t pin = GPIO_EXTRACT_PIN(kGpioSdhc0Cd); if(PORT_HAL_GetPortIntFlag(gpioBase) == (1 << pin)) { sdhc_card_detection(); } /* Clear interrupt flag.*/ PORT_HAL_ClearPortIntFlag(gpioBase); }
/*! * @brief gpio IRQ handler with the same name in startup code */ void SDCARD_CD_GPIO_IRQ_HANDLER(void) { PORT_Type * gpioBase = g_portBase[GPIO_EXTRACT_PORT(kGpioSdcardCardDetection)]; uint32_t pin = GPIO_EXTRACT_PIN(kGpioSdcardCardDetection); if(PORT_HAL_GetPortIntFlag(gpioBase) == (1 << pin)) { spiSDcard_card_detection(); } /* Clear interrupt flag.*/ PORT_HAL_ClearPortIntFlag(gpioBase); }
//PTD2_UART_rx, PTD3_UART_tx //PTC1,2,3,4 int main (void) { memcpy(packet_upper_PC.trans_header, trans_header_table, sizeof(trans_header_table)); // RX buffers //! @param receiveBuff Buffer used to hold received data uint8_t receiveBuff; // Initialize standard SDK demo application pins hardware_init(); OSA_Init(); // Call this function to initialize the console UART. This function // enables the use of STDIO functions (printf, scanf, etc.) dbg_uart_init(); /*Start***FTM Init*************************************************************/ memset(&ftmInfo, 0, sizeof(ftmInfo)); ftmInfo.syncMethod = kFtmUseSoftwareTrig; FTM_DRV_Init(0, &ftmInfo); /*End*****FTM Init*************************************************************/ // Print the initial banner PRINTF("\r\nHello World!\n\n\r"); LED2_EN; LED3_EN; LED4_EN; LED5_EN; LED2_OFF; LED3_OFF; LED4_OFF; LED5_OFF; I2C_fxos8700Init(); I2C_l3g4200dInit(); FTM_DRV_PwmStart(0, &ftmParam0, 0); FTM_DRV_PwmStart(0, &ftmParam1, 1); FTM_DRV_PwmStart(0, &ftmParam2, 2); FTM_DRV_PwmStart(0, &ftmParam3, 3); FTM_HAL_SetSoftwareTriggerCmd(g_ftmBaseAddr[0], true); // Hwtimer initialization if (kHwtimerSuccess != HWTIMER_SYS_Init(&hwtimer, &HWTIMER_LL_DEVIF, HWTIMER_LL_ID, 5, NULL)) { PRINTF("\r\nError: hwtimer initialization.\r\n"); } if (kHwtimerSuccess != HWTIMER_SYS_SetPeriod(&hwtimer, HWTIMER_LL_SRCCLK, HWTIMER_PERIOD)) { PRINTF("\r\nError: hwtimer set period.\r\n"); } // if (kHwtimerSuccess != HWTIMER_SYS_RegisterCallback(&hwtimer, hwtimer_callback, NULL)) // { // PRINTF("\r\nError: hwtimer callback registration.\r\n"); // } // if (kHwtimerSuccess != HWTIMER_SYS_Start(&hwtimer)) // { // PRINTF("\r\nError: hwtimer start.\r\n"); // } /* A write of any value to current value register clears the field to 0, and also clears the SYST_CSR COUNTFLAG bit to 0. */ SysTick->VAL = 0U; /* Run timer and disable interrupt */ SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk ;//| SysTick_CTRL_TICKINT_Msk; GPIO_DRV_Init(remoteControlPins,NULL); // GPIO_DRV_Init(fxos8700IntPins,NULL); // I2C_fxos8700AutoCalibration(); //cannot work , shit! /*Start PIT init***************/ // Structure of initialize PIT channel No.0 pit_user_config_t chn0Confg = { .isInterruptEnabled = true, .isTimerChained = false, .periodUs = 20000u //1000000 us }; // Structure of initialize PIT channel No.1 pit_user_config_t chn1Confg = { .isInterruptEnabled = true, .isTimerChained = false, .periodUs = 2000000u }; // Init pit module and enable run in debug PIT_DRV_Init(BOARD_PIT_INSTANCE, false); // Initialize PIT timer instance for channel 0 and 1 PIT_DRV_InitChannel(BOARD_PIT_INSTANCE, 0, &chn0Confg); // PIT_DRV_InitChannel(BOARD_PIT_INSTANCE, 1, &chn1Confg); // Start channel 0 // printf ("\n\rStarting channel No.0 ..."); PIT_DRV_StartTimer(BOARD_PIT_INSTANCE, 0); // Start channel 1 // printf ("\n\rStarting channel No.1 ..."); // PIT_DRV_StartTimer(BOARD_PIT_INSTANCE, 1); /*End PIT init***************/ // NVIC_SetPriority(SysTick_IRQn, 3); // NVIC_SetPriority(PORTB_IRQn,0); while(1) { ///*Start************Remote Controller Unlock *************/ // if(isRCunlock == true) // { // LED3_ON; // } // else // { // LED3_OFF; // } // static uint32_t unlock_times = 0; // static uint32_t lock_times = 0; // PRINTF("ThrottleValue = %6d ,YawValue = %6d \r\n" ,remoteControlValue[kThrottle],remoteControlValue[kYaw]); // if(isRCunlock == false) // { // if((remoteControlValue[kThrottle] < RC_THRESHOLD_L) && (remoteControlValue[kYaw] > RC_THRESHOLD_H)) // { // unlock_times++; // } // else // { // unlock_times = 0; // } // if(unlock_times > 6) // { // isRCunlock = true; // } // } // else // { // if((remoteControlValue[kThrottle] < RC_THRESHOLD_L) && (remoteControlValue[kYaw] < RC_THRESHOLD_L)) // { // lock_times++; // } // else // { // lock_times = 0; // } // if(lock_times > 4) // { // isRCunlock = false; // } // } ///*End************Remote Controller Unlock *************/ // LED2_ON; // OSA_TimeDelay(200); // LED3_ON; // OSA_TimeDelay(200); // LED4_ON; // OSA_TimeDelay(200); LED5_ON; OSA_TimeDelay(100); // LED2_OFF; // OSA_TimeDelay(200); // LED3_OFF; // OSA_TimeDelay(200); // LED4_OFF; // OSA_TimeDelay(200); LED5_OFF; OSA_TimeDelay(100); } } volatile bool isRCunlock = false; //below define value is in quad_common.h //#define RC_THRESHOLD_H (220000U) //#define RC_THRESHOLD_L (140000U) //#define RC_THRESHOLD_ERROR (300000U)//由于IO采两个边沿中断,有可能算成低电平的时间,所以做一个剔除算法。 //#define HW_DIVIDER (2400000U) ////120M core clock , 2400000 / 120 000 000 = 0.02 s , 50Hz , ////遥控器信号 50Hz , 范围1~2ms,周期20ms,1.5ms中值.对应 120 000 - 240 000 void PORTB_IRQHandler(void) { uint32_t intFlag = PORT_HAL_GetPortIntFlag(PORTB_BASE); uint32_t i = 0; uint32_t value = 0; static uint32_t remoteControlValue1st[8] = {0}; static uint32_t remoteControlValue2nd[8] = {0}; static uint32_t remoteControlValueFlag[8] = {0}; for(i=0 ; i<8;i++) { if (intFlag & (1 << remoteControlPinNum[i])) { if (remoteControlValueFlag[i] == 0) { remoteControlValue1st[i] = (SysTick->VAL); remoteControlValueFlag[i] = 1; } else { remoteControlValueFlag[i] = 0; remoteControlValue2nd[i] = (SysTick->VAL); if ( remoteControlValue1st[i] > remoteControlValue2nd[i] ) { value = remoteControlValue1st[i] - remoteControlValue2nd[i]; } else { value = remoteControlValue1st[i] + HW_DIVIDER - remoteControlValue2nd[i];//hwtimer.divider } if( value > RC_THRESHOLD_ERROR) { remoteControlValueFlag[i] = 1; remoteControlValue1st[i] = (SysTick->VAL); } else { remoteControlValue[i] = value; // if(((remoteControlValue[3] <180000) ||(remoteControlValue[3] > 190000))&&remoteControlValue[3]> 100) // LED4_ON; } } } PORT_HAL_ClearPinIntFlag(PORTB_BASE,remoteControlPinNum[i]); } /* Clear interrupt flag.*/ // PORT_HAL_ClearPortIntFlag(PORTB_BASE); } void PORTE_IRQHandler(void) { uint32_t intFlag = PORT_HAL_GetPortIntFlag(PORTE_BASE); if (intFlag & (1 << 11)) { isFXOS8700Int1Trigger = true; PRINTF("\r\n PTE11 irq"); } /* Clear interrupt flag.*/ PORT_HAL_ClearPortIntFlag(PORTE_BASE); }
/* gpio IRQ handler with the same name in startup code. */ void PORTBC_IRQHandler(void) { /* Clear interrupt flag.*/ if(PORT_HAL_GetPortIntFlag(PORTB_BASE)) PORT_HAL_ClearPortIntFlag(PORTB_BASE); if(PORT_HAL_GetPortIntFlag(PORTC_BASE)) PORT_HAL_ClearPortIntFlag(PORTC_BASE); }